Related papers: Gaze-based Learning from Demonstration In Surgical…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
Automatic recognition of surgical activities in the operating room (OR) is a key technology for creating next generation intelligent surgical devices and workflow monitoring/support systems. Such systems can potentially enhance efficiency…
When technical requirements are high, and patient outcomes are critical, opportunities for monitoring and improving surgical skills via objective motion analysis feedback may be particularly beneficial. This narrative review synthesises…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
As surgical robots become more common, automating away some of the burden of complex direct human operation becomes ever more feasible. Model-free reinforcement learning (RL) is a promising direction toward generalizable automated surgical…
Autonomous agents capable of diverse object manipulations should be able to acquire a wide range of manipulation skills with high reusability. Although advances in deep learning have made it increasingly feasible to replicate the dexterity…
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard,…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…
Laparoscopic Surgery (LS) is a modern surgical technique whereby the surgery is performed through an incision with tools and camera as opposed to conventional open surgery. This promises minimal recovery times and less hemorrhaging. Multi…